微特电机 ›› 2020, Vol. 48 ›› Issue (4): 64-67.

• 驱动控制 • 上一篇    

基于改进的快速趋近律的四旋翼姿态控制

张文1, 孙瑞胜2   

  1. 1.南京理工大学泰州科技学院,泰州 225300;
    2.南京理工大学 能源与动力学院,南京 210094
  • 收稿日期:2019-06-19 出版日期:2020-04-28 发布日期:2020-04-24
  • 作者简介:张文(1982--), 讲师,研究方向为检测及智能控制.

Attitude Control of Quadrotor Aircraft Based on Modified Exponential Reaching Law

ZHANG Wen1, SUN Rui-sheng2   

  1. 1.Taizhou Institude of Nanjing University of Science and Technology,Taizhou 225300,China;
    2.School of Energy and Power Engineering,Nanjing University of Science and Technology,Nanjing 210094,China
  • Received:2019-06-19 Online:2020-04-28 Published:2020-04-24

摘要: 为了提高四旋翼控制系统的稳定性以及快速性,设计了基于改进的趋近律的控制器,以解决扰动下的四旋翼姿态控制问题.对四旋翼飞行器建模.根据系统的特征,将系统分成了全驱动和欠驱动两个子系统.分别利用改进的快速趋近律设计了控制器.仿真结果表明,控制器具有较好的控制效果,并且在动态性能方面能够快速地跟踪信号,抖振现象也得到了削弱.

关键词: 四旋翼, 滑模控制, 趋近律, 抖振

Abstract: In order to improve the stability and rapidity of control system of quadrotor aircraft, an improved reaching law controller was designed to solve the problem of attitude control of a quadrotor aircraft with disturbance factors. The quadrotor aircraft model was established and divided into two parts,full-drive and under-drive. The controller was designed by using the improved reaching law.The simulation results show that the designed controller has good control effect and can track the signal quickly in dynamic performance, the chattering was reduced effectively.

Key words: quadrotor aircraft, sliding mode control, reaching law, chattering

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